version: 66.06
glider: 139
mission: 8
dive: 126
start: 8 8 110 22 49 50
data:
$ID,139
$MISSION,8
$DIVE,126
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,90
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,190
$T_MISSION,220
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,60
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52108
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2152995
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,435
$PITCH_MAX,3724
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,227
$ROLL_MAX,3931
$ROLL_DEG,40
$C_ROLL_DIVE,1690
$C_ROLL_CLIMB,1830
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2650
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-14.705256
$PRESSURE_SLOPE,0.000116328
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043401681
$SEABIRD_T_H,0.00063043466
$SEABIRD_T_I,2.4021314e-05
$SEABIRD_T_J,2.5358199e-06
$SEABIRD_C_G,-9.8272314
$SEABIRD_C_H,1.0932546
$SEABIRD_C_I,-0.0012359815
$SEABIRD_C_J,0.00017717193
$GPS1,223937,2105.881,-15743.342,33,1.0,33,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.9
$GPS2,224932,2105.904,-15743.465,14,1.3,14,9.8
$SPEED_LIMITS,0.137,0.159
$TGT_NAME,C_SOUTH
$TGT_LATLONG,2057.918,-15749.860
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,207.0,18468,-23.8,-7.895
$D_GRID,450
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.56,-58.4,0.0,0.0,0,82,0.00,0.00,-64.10,0.000,2,0.000,0.000,427,1672,2773,0,0,0,0,0,0
$GC,85,-1.56,-58.4,3.3,-3.7,12,110,12.52,2.42,-2.17,0.000,4,0.135,0.055,2755,290,2891,0,0,0,0,0,0
$GC,256,-1.44,-58.4,44.8,-18.8,38,261,0.15,2.30,0.00,0.000,6,0.113,0.018,2783,1727,2893,0,0,0,0,0,0
$GC,517,-1.49,-58.4,82.4,-13.4,58,521,0.00,2.20,0.00,0.000,4,0.000,0.022,2783,3073,2894,0,0,0,0,0,0
$GC,596,-1.62,-58.4,92.4,-12.1,64,601,0.15,2.33,0.00,0.000,6,0.056,0.031,2737,1681,2894,0,0,0,0,0,0
$GC,863,-1.62,-58.4,132.3,-13.8,85,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1681,2895,0,0,0,0,0,0
$GC,1115,-1.62,-58.4,166.3,-13.8,105,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1681,2895,0,0,0,0,0,0
$GC,1367,-1.62,-58.4,198.2,-12.0,125,1371,0.00,2.30,0.00,0.000,4,0.000,0.024,2738,3077,2896,0,0,0,0,0,0
$GC,1435,-1.71,-58.4,206.1,-12.3,129,1440,0.00,2.33,0.00,0.000,6,0.000,0.033,2737,1685,2896,0,0,0,0,0,0
$GC,1768,-1.76,-58.4,243.7,-10.3,145,1772,0.00,2.28,0.00,0.000,4,0.000,0.025,2738,3075,2896,0,0,0,0,0,0
$GC,1859,-1.87,-58.4,251.9,-8.8,149,1864,0.20,2.33,0.00,0.000,6,0.050,0.035,2680,1687,2896,0,0,0,0,0,0
$GC,2192,-1.82,-58.4,295.9,-13.5,165,2197,0.12,2.30,0.00,0.000,4,0.107,0.026,2704,3072,2895,0,0,0,0,0,0
$GC,2245,-1.89,-58.4,303.0,-12.2,167,2249,0.00,2.33,0.00,0.000,6,0.000,0.036,2704,1689,2895,0,0,0,0,0,0
$GC,2563,-1.89,-58.4,339.4,-11.7,175,2570,0.00,2.30,0.00,0.000,4,0.000,0.028,2704,3068,2894,0,0,0,0,0,0
$GC,2664,-1.95,-58.4,350.8,-10.4,177,2669,0.12,2.35,0.00,0.000,6,0.070,0.037,2666,1689,2893,0,0,0,0,0,0
$GC,2989,-1.89,-58.4,392.1,-13.3,185,2994,0.10,2.45,0.00,0.000,4,0.118,0.056,2685,287,2891,0,0,0,0,0,0
$GC,3049,-1.81,-58.4,400.3,-12.8,186,3053,0.00,2.28,0.00,0.000,6,0.000,0.024,2685,1685,2891,0,0,0,0,0,0
$GC,3362,-1.81,-58.4,437.8,-12.5,194,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1689,2889,0,0,0,0,0,0
$STATE,3482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3482,begin apogee
$GC,3488,-0.31,0.0,454.0,13.2,197,3541,1.65,0.00,49.17,0.835,6,0.084,0.000,3029,1847,2650,0,0,0,0,0,0
$STATE,3542,end apogee,CONTROL_FINISHED_OK
$STATE,3542,begin climb
$GC,3546,1.56,58.4,455.4,0.0,198,3604,1.77,2.40,50.30,0.821,4,0.030,0.035,3449,3215,2411,0,0,0,0,0,0
$GC,3686,1.36,134.1,455.4,1.1,201,3763,0.28,2.40,66.57,0.826,6,0.109,0.037,3398,1829,2103,0,0,0,0,0,0
$GC,4086,1.19,134.1,410.9,12.7,211,4091,0.20,2.50,0.00,0.000,4,0.110,0.054,3360,426,2093,0,0,0,0,0,0
$GC,4167,0.98,134.1,400.2,14.2,212,4172,0.22,2.33,0.00,0.000,6,0.107,0.028,3317,1821,2089,0,0,0,0,0,0
$GC,4499,0.98,134.1,371.1,8.6,220,4503,0.00,2.45,0.00,0.000,4,0.000,0.054,3317,427,2087,0,0,0,0,0,0
$GC,4627,0.90,134.1,357.9,10.6,222,4632,0.12,2.33,0.00,0.000,6,0.122,0.028,3295,1838,2084,0,0,0,0,0,0
$GC,4959,0.96,134.2,330.2,7.9,230,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,1842,2083,0,0,0,0,0,0
$GC,5283,1.05,151.2,307.0,6.4,238,5304,0.15,2.55,12.62,0.722,4,0.065,0.052,3336,419,2032,0,0,0,0,0,0
$GC,5354,0.94,151.2,301.7,8.7,239,5359,0.15,2.33,0.00,0.000,6,0.111,0.028,3308,1835,2029,0,0,0,0,0,0
$GC,5686,0.99,151.2,276.3,8.4,254,5691,0.00,2.47,0.00,0.000,4,0.000,0.051,3308,426,2028,0,0,0,0,0,0
$GC,5737,0.99,151.2,271.0,10.4,256,5741,0.00,2.33,0.00,0.000,6,0.000,0.027,3308,1839,2026,0,0,0,0,0,0
$GC,6057,1.06,154.9,245.4,7.6,272,6062,0.10,2.50,0.00,0.000,4,0.081,0.051,3336,424,2026,0,0,0,0,0,0
$GC,6132,0.97,154.9,238.5,9.3,275,6137,0.12,2.30,0.00,0.000,6,0.116,0.026,3314,1836,2024,0,0,0,0,0,0
$GC,6457,1.04,163.9,214.4,7.1,291,6472,0.00,0.00,11.73,0.654,6,0.000,0.000,3314,1841,1980,0,0,0,0,0,0
$GC,6788,1.12,163.9,188.0,8.6,311,6793,0.12,2.47,0.00,0.000,4,0.069,0.048,3351,425,1979,0,0,0,0,0,0
$GC,6886,1.03,163.9,178.0,9.2,318,6891,0.12,2.28,0.00,0.000,6,0.111,0.024,3327,1844,1976,0,0,0,0,0,0
$GC,7148,1.09,163.9,159.9,8.0,338,7152,0.00,2.45,0.00,0.000,4,0.000,0.046,3327,424,1976,0,0,0,0,0,0
$GC,7187,1.06,163.9,156.3,9.1,341,7191,0.00,2.28,0.00,0.000,6,0.000,0.022,3328,1835,1975,0,0,0,0,0,0
$GC,7453,1.14,177.7,134.6,6.7,362,7471,0.00,2.33,12.90,0.591,4,0.000,0.027,3327,3201,1924,0,0,0,0,0,0
$GC,7504,1.25,181.9,130.6,7.5,365,7518,0.20,2.35,5.55,0.483,6,0.051,0.031,3383,1820,1908,0,0,0,0,0,0
$GC,7779,1.22,181.9,102.1,10.8,387,7784,0.00,2.40,0.00,0.000,4,0.000,0.044,3383,424,1906,0,0,0,0,0,0
$GC,7938,1.11,181.9,83.3,11.2,398,7945,0.17,2.28,0.00,0.000,6,0.083,0.021,3343,1825,1904,0,0,0,0,0,0
$GC,8200,1.19,198.0,65.7,6.4,419,8222,0.00,2.50,15.27,0.538,4,0.000,0.044,3343,427,1840,0,0,0,0,0,0
$GC,8245,1.20,198.7,62.2,7.8,422,8249,0.00,2.28,0.00,0.000,6,0.000,0.020,3343,1853,1838,0,0,0,0,0,0
$GC,8508,1.30,208.6,42.1,7.0,442,8524,0.17,2.55,10.57,0.493,4,0.052,0.043,3395,424,1798,0,0,0,0,0,0
$GC,8779,1.23,208.6,13.7,8.7,486,8787,0.12,2.25,0.00,0.000,6,0.081,0.019,3366,1822,1794,0,0,0,0,0,0
$STATE,8950,end climb,SURFACE_DEPTH_REACHED
$STATE,8950,begin surface coast
$FINISH,0.5,1.023051
$STATE,9002,end surface coast,CONTROL_FINISHED_OK
$STATE,9002,begin surface
$SM_CCo,9025,119.05,0.504,0,0,977,410.14
$SM_GC,1.48,0.00,0.00,119.05,0.000,0.000,0.504,426,1658,977,-12.30,-0.90,410.14
$IRIDIUM_FIX,2059.45,-15745.74,021199,222213
$TT8_MAMPS,0.028379
$HUMID,51.81
$INTERNAL_PRESSURE,9.27424
$TCM_TEMP,22.10
$XPDR_PINGS,0
$24V_AH,23.5,11.673
$10V_AH,10.4,8.636
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,31.750,90.175,234.700,119.050,0.000,55.992,65.277,276.891,4.500,0.000,14.587,1064.162,5935.464,411.751,1667.220,661.557,0.000,1128.195,0.000,1651.255,0.000,29.269,0.000
$DEVICE_MAMPS,134.992,55.991,835.263,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.296,348.721,817.716,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,28667,537
$CAP_FILE_SIZE,106661,0
$CFSIZE,260165632,206925824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090810,012329,2105.207,-15744.952,15,2.4,34,9.8